uncrustify libraries/AP_Math/matrix3.h

This commit is contained in:
uncrustify 2012-08-16 23:20:14 -07:00 committed by Pat Hickey
parent 9bb0b42f28
commit 7e19ae5868
1 changed files with 122 additions and 83 deletions

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@ -38,120 +38,159 @@ template <typename T>
class Matrix3 {
public:
// Vectors comprising the rows of the matrix
Vector3<T> a, b, c;
// Vectors comprising the rows of the matrix
Vector3<T> a, b, c;
// trivial ctor
// note that the Vector3 ctor will zero the vector elements
Matrix3<T>() {}
// trivial ctor
// note that the Vector3 ctor will zero the vector elements
Matrix3<T>() {
}
// setting ctor
Matrix3<T>(const Vector3<T> a0, const Vector3<T> b0, const Vector3<T> c0): a(a0), b(b0), c(c0) {}
// setting ctor
Matrix3<T>(const Vector3<T> a0, const Vector3<T> b0, const Vector3<T> c0) : a(a0), b(b0), c(c0) {
}
// setting ctor
Matrix3<T>(const T ax, const T ay, const T az, const T bx, const T by, const T bz, const T cx, const T cy, const T cz): a(ax,ay,az), b(bx,by,bz), c(cx,cy,cz) {}
// setting ctor
Matrix3<T>(const T ax, const T ay, const T az, const T bx, const T by, const T bz, const T cx, const T cy, const T cz) : a(ax,ay,az), b(bx,by,bz), c(cx,cy,cz) {
}
// function call operator
void operator () (const Vector3<T> a0, const Vector3<T> b0, const Vector3<T> c0)
{ a = a0; b = b0; c = c0; }
// function call operator
void operator () (const Vector3<T> a0, const Vector3<T> b0, const Vector3<T> c0)
{
a = a0; b = b0; c = c0;
}
// test for equality
bool operator == (const Matrix3<T> &m)
{ return (a==m.a && b==m.b && c==m.c); }
// test for equality
bool operator == (const Matrix3<T> &m)
{
return (a==m.a && b==m.b && c==m.c);
}
// test for inequality
bool operator != (const Matrix3<T> &m)
{ return (a!=m.a || b!=m.b || c!=m.c); }
// test for inequality
bool operator != (const Matrix3<T> &m)
{
return (a!=m.a || b!=m.b || c!=m.c);
}
// negation
Matrix3<T> operator - (void) const
{ return Matrix3<T>(-a,-b,-c); }
// negation
Matrix3<T> operator - (void) const
{
return Matrix3<T>(-a,-b,-c);
}
// addition
Matrix3<T> operator + (const Matrix3<T> &m) const
{ return Matrix3<T>(a+m.a, b+m.b, c+m.c); }
Matrix3<T> &operator += (const Matrix3<T> &m)
{ return *this = *this + m; }
// addition
Matrix3<T> operator + (const Matrix3<T> &m) const
{
return Matrix3<T>(a+m.a, b+m.b, c+m.c);
}
Matrix3<T> &operator += (const Matrix3<T> &m)
{
return *this = *this + m;
}
// subtraction
Matrix3<T> operator - (const Matrix3<T> &m) const
{ return Matrix3<T>(a-m.a, b-m.b, c-m.c); }
Matrix3<T> &operator -= (const Matrix3<T> &m)
{ return *this = *this - m; }
// subtraction
Matrix3<T> operator - (const Matrix3<T> &m) const
{
return Matrix3<T>(a-m.a, b-m.b, c-m.c);
}
Matrix3<T> &operator -= (const Matrix3<T> &m)
{
return *this = *this - m;
}
// uniform scaling
Matrix3<T> operator * (const T num) const
{ return Matrix3<T>(a*num, b*num, c*num); }
Matrix3<T> &operator *= (const T num)
{ return *this = *this * num; }
Matrix3<T> operator / (const T num) const
{ return Matrix3<T>(a/num, b/num, c/num); }
Matrix3<T> &operator /= (const T num)
{ return *this = *this / num; }
// uniform scaling
Matrix3<T> operator * (const T num) const
{
return Matrix3<T>(a*num, b*num, c*num);
}
Matrix3<T> &operator *= (const T num)
{
return *this = *this * num;
}
Matrix3<T> operator / (const T num) const
{
return Matrix3<T>(a/num, b/num, c/num);
}
Matrix3<T> &operator /= (const T num)
{
return *this = *this / num;
}
// multiplication by a vector
Vector3<T> operator *(const Vector3<T> &v) const;
// multiplication by a vector
Vector3<T> operator *(const Vector3<T> &v) const;
// multiplication of transpose by a vector
Vector3<T> mul_transpose(const Vector3<T> &v) const;
// multiplication of transpose by a vector
Vector3<T> mul_transpose(const Vector3<T> &v) const;
// extract x column
Vector3<T> colx(void) const
{ return Vector3f(a.x, b.x, c.x); }
// extract x column
Vector3<T> colx(void) const
{
return Vector3f(a.x, b.x, c.x);
}
// extract y column
Vector3<T> coly(void) const
{ return Vector3f(a.y, b.y, c.y); }
// extract y column
Vector3<T> coly(void) const
{
return Vector3f(a.y, b.y, c.y);
}
// extract z column
Vector3<T> colz(void) const
{ return Vector3f(a.z, b.z, c.z); }
// extract z column
Vector3<T> colz(void) const
{
return Vector3f(a.z, b.z, c.z);
}
// multiplication by another Matrix3<T>
Matrix3<T> operator *(const Matrix3<T> &m) const;
// multiplication by another Matrix3<T>
Matrix3<T> operator *(const Matrix3<T> &m) const;
Matrix3<T> &operator *=(const Matrix3<T> &m)
{ return *this = *this * m; }
Matrix3<T> &operator *=(const Matrix3<T> &m)
{
return *this = *this * m;
}
// transpose the matrix
Matrix3<T> transposed(void) const;
// transpose the matrix
Matrix3<T> transposed(void) const;
Matrix3<T> transpose(void)
{ return *this = transposed(); }
Matrix3<T> transpose(void)
{
return *this = transposed();
}
// zero the matrix
void zero(void);
// zero the matrix
void zero(void);
// setup the identity matrix
void identity(void) {
a.x = b.y = c.z = 1;
a.y = a.z = 0;
b.x = b.z = 0;
c.x = c.y = 0;
}
// setup the identity matrix
void identity(void) {
a.x = b.y = c.z = 1;
a.y = a.z = 0;
b.x = b.z = 0;
c.x = c.y = 0;
}
// check if any elements are NAN
bool is_nan(void)
{ return a.is_nan() || b.is_nan() || c.is_nan(); }
// check if any elements are NAN
bool is_nan(void)
{
return a.is_nan() || b.is_nan() || c.is_nan();
}
// fill in the matrix with a standard rotation
void rotation(enum Rotation rotation);
// fill in the matrix with a standard rotation
void rotation(enum Rotation rotation);
// create a rotation matrix from Euler angles
void from_euler(float roll, float pitch, float yaw);
void from_euler(float roll, float pitch, float yaw);
// create eulers from a rotation matrix
void to_euler(float *roll, float *pitch, float *yaw);
void to_euler(float *roll, float *pitch, float *yaw);
// apply an additional rotation from a body frame gyro vector
// to a rotation matrix.
void rotate(const Vector3<T> &g);
void rotate(const Vector3<T> &g);
};
typedef Matrix3<int16_t> Matrix3i;
typedef Matrix3<uint16_t> Matrix3ui;
typedef Matrix3<int32_t> Matrix3l;
typedef Matrix3<uint32_t> Matrix3ul;
typedef Matrix3<float> Matrix3f;
typedef Matrix3<int16_t> Matrix3i;
typedef Matrix3<uint16_t> Matrix3ui;
typedef Matrix3<int32_t> Matrix3l;
typedef Matrix3<uint32_t> Matrix3ul;
typedef Matrix3<float> Matrix3f;
#endif // MATRIX3_H